cmake_minimum_required(VERSION 3.8)
project(genimind_base)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(genimind_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(ros2_socketcan REQUIRED)
find_package(can_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
# find_package(tf2 REQUIRED)

add_executable(genimind_base src/genimind_base.cpp)

ament_target_dependencies(
  genimind_base
  "rclcpp"
  "genimind_interfaces"
  "geometry_msgs"
  "ros2_socketcan"
  "can_msgs"
  "nav_msgs"
  "sensor_msgs"
  "tf2_ros"
)

install(TARGETS
  genimind_base
  DESTINATION lib/${PROJECT_NAME}
)

# 使用include目录
include_directories(
  include
)

install(
  DIRECTORY include/
  DESTINATION include
)

# launch
install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
